Structural Engineering and Mechanics
Volume 11, Number 2, 2001, pages 133-149
DOI: 10.12989/sem.2001.11.2.133
A recursive multibody model of a tracked vehicle and its interaction with flexible ground
Ray P.S. Han, Brian S. Sander and S.G. Mao(U.S.A.)
Abstract
A high-fidelity model of a tracked vehicle traversing a flexible ground terrain with a varying<br />profile is presented here. In this work, we employed a recursive formulation to model the track<br />subsystem. This method yields a minimal set of coordinates and hence, computationally more efficient<br />than conventional approaches. Also, in the vehicle subsystem, the undercarriage frame is assumed to be<br />connected to the chassis by a revolute joint and a spring-damper unit. This increase in system mobility<br />makes the model more realistic. To capture the vehicle-ground interaction, a Winkler-type foundation with<br />springs-dampers is used. Simulation runs of the integrated tracked vehicle system for vibrations for four<br />varying ground profiles are provided.
Key Words
tracked vehicles; multibody dynamic models; flexible ground terrain; varying ground profile.
Address
Ray P. S. Han, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242, USA<br />Brian S. Sander, Henderson Engineers Incorporated, Lenexa, KS 66214, USA<br />S.G. Mao, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242, USA